Abstract
Design of multi-input multi-output (MIMO) homogeneous sliding modes (HSMs) for uncertain dynamic systems is considered. The resulting closed-loop systems feature all well-known standard properties of single-input single-output (SISO) HSM systems. Introduction of robust exact differentiators produces homogeneous output-feedback controllers. The ultimate asymptotic accuracy of SISO HSM technique is proved to be preserved in the MIMO and SISO cases, if the discrete-time implementation is based on the one-step Euler integration.
| Original language | English |
|---|---|
| Pages (from-to) | 515-525 |
| Number of pages | 11 |
| Journal | IET Control Theory and Applications |
| Volume | 9 |
| Issue number | 4 |
| DOIs | |
| State | Published - 26 Feb 2015 |
Keywords
- Asymptotic stability
- Closed loop systems
- Closed-loop systems
- Control system analysis and synthesis methods
- Control system synthesis
- Discrete-time implementation
- Discretisation
- Feedback
- Homogeneous multiinput multioutput sliding mode control
- Homogeneous output-feedback controllers
- Integration
- Mimo systems
- Mimo-hsm design
- Multivariable control systems
- Numerical integration and differentiation
- One-step euler integration
- Robust exact differentiators
- Single-input single-output hsm systems
- Siso-hsm systems
- Stability in control theory
- Standard properties
- Ultimate asymptotic accuracy
- Uncertain disturbance attenuation
- Uncertain dynamic systems
- Uncertain systems
- Variable structure systems
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Human-Computer Interaction
- Computer Science Applications
- Control and Optimization
- Electrical and Electronic Engineering